def unpack_pprz_msg(self, data):
"""Unpack a raw PPRZ message"""
sender_id = data[0]
receiver_id = data[1]
class_id = data[2] & 0x0F
component_id = (data[2] & 0xF0) >> 4
msg_id = data[3]
msg = PprzMessage(class_id, msg_id)
msg.binary_to_payload(data[4:])
return sender_id, receiver_id, component_id, msg
def ros2pprz(self, ros_msg):
pprz_msg = PprzMessage(ros_msg.class_name,ros_msg.msg_name)
pprz_msg.binary_to_payload(ros_msg.data)
return pprz_msg
